Yaw rate & lateral acceleration sensor
The yaw rate sensor, lateral G sensor, longitudinal G sensor are packaged in the IMU (Inertial Measurement Unit). A plate fork installed in the sensor detects vibration electronically when the vehicle makes a turn perpendicular to the ground.
If the yaw velocity reaches a certain point after the IMU detects the vehicle's yawing, the ESP (ESC) control is activated.
The IMU is installed in the SRSCM and it interchanges signals with the IBAU through an extra CAN line which is only used for communication between the IBAU and the IMU.